LINK ACTUATION DEVICE

摘要

Provided is a link actuation device (1) capable of detecting external forces acting on the tip of the device from various directions with high accuracy using a simple and inexpensive configuration, thereby improving the safety for the overall device. The link actuation device (1) comprises a parallel link mechanism (9) wherein a base-side link hub (12) and a tip-side link hub (13) are interlinked by multiple link mechanisms (14). Orientation control actuators (10) for driving the link mechanisms (14) are each provided with a torque detection means (8). A load estimation means (5) for estimating a load acting on the tip-side link hub (13) from detection signals of the torque detection means (8) is provided.